Please use this identifier to cite or link to this item:
Title: Improving positioning accuracy using a general framework for macro mini manipulation
Authors: Arifin, A.S.
Ang Jr., M.H. 
Wang, L.C.
Lai, C.Y.
Keywords: Gains scheduling
Macro mini manipulator
Motion control
Positioning accuracy
Trajectory planning
Issue Date: 2013
Citation: Arifin, A.S.,Ang Jr., M.H.,Wang, L.C.,Lai, C.Y. (2013). Improving positioning accuracy using a general framework for macro mini manipulation. IFAC Proceedings Volumes (IFAC-PapersOnline) : 225-230. ScholarBank@NUS Repository.
Abstract: This paper introduces a general framework for macro mini manipulator to improve the positioning accuracy of an industrial manipulator. RMRC (Resolved Motion Rate Control) is used as the controller for the industrial (macro) manipulator while PID with gravity compensation is used as the controller of the mini manipulator. Gain scheduling is introduced to reduce the coupling error that arises from the motions of the macro and mini manipulator. This paper also presents a trajectory planner which ensures the macro and mini manipulator will always be inside of their respective workspaces. The experiment utilizes 7-DOF Mitsubishi PA-10 as the macro manipulator and 1-DOF voice coil actuator as the mini manipulator. The experiments show that the framework improves the position accuracy. © 2013 IFAC.
Source Title: IFAC Proceedings Volumes (IFAC-PapersOnline)
ISBN: 9783902823311
ISSN: 14746670
DOI: 10.3182/20130410-3-CN-2034.00046
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.

Google ScholarTM



Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.